%Function for Generating Transformation Matrix. 
%*************************** Ghanshyam_Chandra *************************************
%*************************** Open_Robo_Simulator ***********************************


function [T] = getTransformMatrix(theta, d, a, alpha)
T = [cos(theta) -sin(theta) * cos(alpha) sin(theta) * sin(alpha) a * cos(theta);
     sin(theta) cos(theta) * cos(alpha)  -cos(theta) * sin(alpha) a * sin(theta);
     0,sin(alpha),cos(alpha),d;
     0,0,0,1];
end
